Abstract
Global Positioning System (GPS) and Inertial Measurement Unit (IMU) integrated system necessitates an information synchronization stage before couple different source data. GPS inaccurate sampling rate and inherent delay lead to data label divergence. A real time algorithm is presented to determine this latency. The method is based on yaw rate matching method that does not rely on high-accuracy or costly sensors. The latency can be used to synchronize the time labels of GPS data and inertial sensor data. Two typical cases will be studied as the application of the algorithm. Experiments favorably demonstrate its validity and robustness. The method can be applied in self-contained integrated system without the dependence or interference in vehicle built-in system.
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